Mobile body, method of controlling mobile body, and information processing device

ABSTRACT

To prompt generation of a new motion of a mobile body. The mobile body includes: a blending parameter setting section that sets a blending parameter; a motion generator that is configured to be able to generate a third motion by blending, into a predetermined first motion as a motion of the mobile body, a predetermined second motion as a motion of the mobile body different from the first motion with a reflection degree corresponding to the blending parameter set by the blending parameter setting section; and a motion controller that is configured to be able to reflect the third motion generated by the motion generator to a motion to be actually performed by the mobile body.

TECHNICAL FIELD

The present disclosure relates to a mobile body, a method of controllinga mobile body, and an information processing device.

BACKGROUND ART

A mobile body with predetermined executable motions has been known (PTL1).

CITATION LIST Patent Literature

-   PTL 1: International Publication No. WO2019/087478

SUMMARY OF THE INVENTION

In a case where a mobile body is to perform a new motion, generating thenew motion from the beginning takes effort and time, and is costly for aless-experienced creator. Furthermore, there is a limit to creator's ownideas, which limits generatable motions.

An object of the present disclosure is to provide a mobile body, amethod of controlling a mobile body, and an information processingdevice that make it possible to prompt generation of a new motion.

Problem to be Solved by the Invention

A mobile body according to an embodiment of the present disclosureincludes: blending parameter setting section that sets a blendingparameter; a motion generator that is configured to be able to generatea third motion by blending, into a predetermined first motion as amotion of the mobile body, a predetermined second motion as a motion ofthe mobile body different from the first motion with a reflection degreecorresponding to the blending parameter set by the blending parametersetting section; and a motion controller that is configured to be ableto reflect the third motion generated by the motion generator to amotion to be actually performed by the mobile body.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view of an appearance of a mobile body accordingto an embodiment of the present disclosure.

FIG. 2 is a schematic diagram schematically illustrating movablesections included in the mobile body according to the same embodiment.

FIG. 3 is a block diagram illustrating an entire configuration of acontrol system of the mobile body according to the same embodiment.

FIG. 4 is a block diagram illustrating a configuration of a portioninvolved in setting of a blending parameter and generation of a newmotion based on the blending parameter in the control system accordingto the same embodiment.

FIG. 5 is a block diagram illustrating a configuration of a portioninvolved in learning and proposal of the blending parameter if thecontrol system according to the same embodiment.

FIG. 6 is a schematic diagram schematically illustrating an appearanceof a user interface used for setting of the blending parameter in thecontrol system according to the same embodiment.

FIG. 7 is a schematic diagram schematically illustrating an appearanceof a user interface used for proposal of the blending parameter(presentation of a proposal parameter) in the control system accordingto the same embodiment.

FIG. 8 is a schematic diagram schematically illustrating an appearanceof a user interface used for proposal of the blending parameter andadjustment of the blending parameter by a user in the control systemaccording to the same embodiment.

FIG. 9 is a schematic diagram schematically illustrating an appearanceof a user interface according to a modification example used forproposal of the blending parameter and adjustment of the blendingparameter by a user in the control system according to the sameembodiment.

FIG. 10 is a flowchart illustrating a flow of setting of the blendingparameter and control of a motion based on the blending parameter as anoperation of the control system according to the same embodiment.

FIG. 11 is a flowchart illustrating a flow of learning of the blendingparameter as an operation of the control system according to the sameembodiment.

FIG. 12 is a flowchart illustrating a flow of proposal of the blendingparameter and adjustment of the blending parameter by a user as anoperation of the control system according to the same embodiment.

MODES FOR CARRYING OUT THE INVENTION

In the following, embodiments of the present disclosure are described indetail with reference to the drawings. The embodiments described beloware specific examples of the present disclosure, and the technologyaccording to the present disclosure is not limited to the followingembodiments. In addition, arrangements, dimensions, and dimensionalratios of the respective components of the following embodiments are notlimited to examples illustrated in the drawings.

Description is given in the following order.

-   -   1. Basic Configuration    -   1.1. Configuration of Mobile Body    -   1.2. Configuration of Movable Sections    -   2. Configuration and Operation of Control System    -   3. Description with Flowcharts    -   4. Workings and Effects    -   5. Conclusion

1. BASIC CONFIGURATION (1.1. Configuration of Mobile Body)

FIG. 1 is a perspective view of an appearance of a mobile body 1according to an embodiment of the present disclosure.

The mobile body 1 according to the present embodiment is an autonomousmobile type quadrupedal walking robot that imitates the form of ananimal (specifically, a dog). The mobile body 1 includes a head part 11,a neck part 12, a body part 13, a tail part 14, two front leg parts (aright front leg part 15 r and a left front leg part 151), and two backleg parts (a right back leg part 16 r and a left back leg part 161).Joints that are movable sections of the mobile body 1 are formed betweenthese parts, and are drivable in a predetermined direction by actuatorsinstalled in the respective joints. The number of actuators provided ineach of the joints is determined in accordance with a direction in whichthe joint is drivable. In the present embodiment, electric motors (servomotors) are adopted as the actuators.

The head part 11 of the mobile body 1 includes a display 11 a and aspeaker 11 b, and also includes a microphone 11 c. The display 11 a isprovided in a part corresponding to a dog's eye of the head part 11, andthe speaker 11 b is provided in a part corresponding to a mouth. FIG. 1illustrates approximate positions of the speaker 11 b and the microphone11 c to be next described in the head part 11. In the presentembodiment, the display 11 a has a configuration in which a picture oran image of a dog's eye is displayable, and the display 11 a and thespeaker 11 b are used as means of attaching, to a motion to be performedby the mobile body 1, media set in association with the motion. Themicrophone 11 c is provided in or near a part corresponding to a dog'sear. Each of a mouth part and an ear part is provided with an actuatorand is operable, which allows a motion or gesture of the mobile body 1to be close to that of an actual dog.

(1.2. Configuration of Movable Sections)

FIG. 2 is a schematic diagram schematically illustrating a configurationof the movable sections included in the mobile body 1 according to thepresent embodiment.

In the present embodiment, as the joints that are movable sections, ajoint j1 is provided between the head part 11 and the neck part 12; ajoint j2 is provided between the neck part 12 and the body part 13; ajoint j3 is provided between a front portion (that is, a chest part) anda rear portion (that is, a hip part) of the body part; a joint j41 isprovided between a thigh part of the right front leg part 15 r and thebody part 13; a joint j42 is provided between the thigh part and a kneepart of the right front leg part 15 r; a joint j51 is provided between athigh part of the left front leg part 151 and the body part 13; a jointj52 is provided between the thigh part and a knee part of the left frontleg part 151; a joint j61 is provided between a thigh part of the rightback leg part 16 r and the body part 13; a joint j62 (whose referencenumeral is not illustrated in FIG. 2 ) is provided between the thighpart and a knee part of the right back leg part 16 r; a joint j71 isprovided between a thigh part of the left back leg part 161 and the bodypart 13; and a joint j72 is provided between the thigh part and a kneepart of the left back leg part 161.

Further, an actuator that is able to give a predetermined degree offreedom is installed in each of these joints, which makes it possible toimplement a motion of the mobile body 1 that imitates a motion of anactual dog. For example, giving degrees of freedom in three directionsto the head part 11 makes it possible to perform motions includingnodding and tilting a head, and giving degrees of freedom in twodirections to a thigh part of a leg (e.g., the right front leg part 15r) makes it possible to perform motions including spreading legs outwardin addition to walking. It is possible to implement a more naturalmotion close to that of the actual dog by a combination of movements ofthese joints.

2. CONFIGURATION AND OPERATION OF CONTROL SYSTEM

FIG. 3 is a block diagram illustrating an entire configuration of acontrol system S of the mobile body 1 according to the presentembodiment.

The control system S controls motions of the mobile body 1,specifically, rotation angles of electric motors included as actuatorsin the respective joints. The control system S is broadly divided into amecanitage unit 101, a motion blender unit 102, and a actuatorcontroller 103, which are provided separately from the mobile body (thatis, a main body of a mobile body) 1, except for the actuator controller103. In the present embodiment, the mobile body includes a main body 1of the mobile body and the control system S, and hereinafter, the“mobile body” refers to the main body 1 of the mobile body. The controlsystem S includes an interface device 104 in addition to the abovecomponents.

The mecanitage unit 101 sets a blending parameter, and generates a newmotion to be performed by the mobile body 1 on the basis of the setblending parameter. As one example, the mecanitage unit 101 and themotion blender unit 102 to be next described are mountable on a computerthat is a server SVR, and are installable at positions separated fromthe mobile body 1. The mecanitage unit 101 and the mobile body 1 (theactuator controller 103 in the present embodiment) are able tocommunicate with each other wirelessly or through a network line.

The motion blender unit 102 learns user's preference about a blendingparameter, and presents a learned blending parameter (that is, ablending parameter corresponding to user's preference) as a proposalparameter to a user. In a case where the proposal parameter presented bythe motion blender unit 102 is close to user's own preference, the useris able to select the proposal parameter as a blending parameter andspecify the blending parameter.

The actuator controller 103 generates an actuator drive signal forcausing the mobile body 1 to execute a new motion generated by themecanitage unit 101. It is possible to separate the actuator controller103 from the mecanitage unit 101 and the motion blender unit 102 andcontain the actuator controller 103 in the mobile body 1.

The interface device 104 displays the proposal parameter presented bythe motion blender unit 102, and prompts the user to specify theblending parameter. The user is able to specify the presented proposalparameter as a blending parameter related to user's own selection, thatis, a blending parameter for causing the mobile body 1 to perform amotion close to user's own preference through the interface device 104.It is possible to embody the interface device 104 by a personal computerpossessed or used by the user, and it is possible to promptspecification of the blending parameter by displaying the proposalparameter on a screen of the personal computer.

FIG. 4 is a block diagram illustrating a configuration of the mecanitageunit 101 according to the present embodiment.

The mecanitage unit 101 includes a blending parameter setting sectionB11, a motion generator B12, a motion controller B13, and a mediapresenting section B14.

The blending parameter setting section B11 sets a blending parameter.The blending parameter is an index indicating a reflection degree of asecond existing motion (that is, a second motion) as an object to beblended into a first existing motion (that is, a first motion) that is abase for generating a new motion. The first motion and the second motionare motions different from each other, and are predetermined, forexample, as a set of time series of rotation angles of electric motorsas actuators, and are stored in a storage section of the mecanitage unit101, It is possible to read the first motion and the second motion fromthe mecanitage unit 101 as necessary. While the first motion basicallyincludes one motion, the second motion may include one motion or aplurality of motions. In a case where there is a plurality of secondmotions, a blending parameter for each of the plurality of secondmotions is set.

In the present embodiment, as the first motion, a motion of swaying thebody part 13 from side to side, that is, “body sway” is adopted, and asthe second motion, the following two motions are adopted. The twomotions include a motion of digging the ground with use of the front legparts 15 r and 151, that is, “dig here”, and a motion of swaying a hippart relative to a chest part of the body part 13, that is, “hip sway”.The hip part is a rear half of the body part 13 and the chest part is afront half of the body part 13. The number of second motions is notlimited, and may be two or more.

In the present embodiment, at each of start and end timings ofreflection of the second motion, an operation of gradually increasing areflection degree of the second motion and gradually decreasing thereflection degree. Referring to FIG. 6 , in order to implement such anoperation, adopted mixing parameters include a duration TM of reflectionof the second motion, a ratio BR to the first motion in reflection ofthe second motion, a start time Tfis of reflection of the second motion,an end time Tfoe of reflection of the second motion, an end time Tfie ofgradual increase in the reflection degree, and a start time Tfos ofgradual decrease in the reflection degree. FIG. 6 illustrates a blendingparameter specified for a second motion BM22 (that is, “hip sway”) thatis a second motion of the motions according to the present embodiment.Here, the start time Tfis of reflection of the second motion is able totranslate to a start time of gradual increase in the reflection degree,and the end time Tfoe of reflection of the second motion is able totranslate to an end time of gradual decrease in the reflection degree.

The motion generator B12 blends the second motion into the first motionwith a reflection degree corresponding to a mixing parameter set by themixing parameter generator B11 to generate a motion different from boththe first and second motions, that is, a new motion (a third motion).

The motion controller B13 reflects the third motion generated by themotion generator B12 to a motion to be actually performed by the mobilebody 1. In the present embodiment, the third motion is reflected bycausing the mobile body 1 to execute the third motion itself, but thisis not limitative. A signal from the motion controller B13 is inputtedas a signal indicating a set of time series of the rotation angles ofthe actuators (electric motors) to the actuator controller 103, and theactuator controller 103 converts the inputted signal into a drive signalfor each of the actuators, and outputs the drive signal to an actuatorto be controlled.

The media presenting section B14 presents predetermined mediaperceptible by a user in association with the third motion. In thepresent embodiment, the predetermined media include visual and audiomedia, specifically image information that imitates a dog's eye andaudio information that imitates dog barking. It is possible to presentthe image information on the dog's eye on the display 11 a provided inthe head part 11, and it is possible to present the audio information onbarking by the speaker 11 b.

In the present embodiment, media are preset in association with each ofthe first motion that is a base of generation and the second motion asan object to be blended, and media set in association with a motionhaving a superior reflection degree in the third motion, that is, amotion having a larger reflection degree in the third motion of thefirst and second motion is presented. For example, in a case where theratio BR to the first motion in reflection of the second motion exceeds1, media set in association with the second motion is presented.

Presentation of media is not limited thereto, and it is possible topresent media set in association with a motion having a high finalreflection degree in the third motion of the first and second motions.For example, in a case where the end time Tfie of gradual increase inthe reflection degree of the second motion or the end time Tfoe ofreflection of the second motion is later than an end time Te of thefirst motion, media set in association with the second motion ispresented.

FIG. 6 illustrates a specific example of a screen (hereinafter referredto as “interface screen” in some cases) UI1 to be displayed by theinterface device 104 according to the present embodiment forspecification of the blending parameter.

The interface screen UI1 includes a plurality of regions R11, R21, andR13 separated from each other. The regions R11 to R13 may bepartitioned, for example, by different screen planes or by interposing ablack display section between different regions on the same screen plane(the same applies to the following description). A first region of theplurality of regions R11 to R13 is the region R11 that indicates anappearance of the mobile body 1 and demonstration of a motion by themobile body 1. A second region is the region R12 that indicatesinformation about media, and a third region is the region R13 thatindicates information about the first motion and the second motion. Asinformation about the first motion, it is possible to display a starttime Ts of the first motion and the end time Te of the first motion, andas information about the second motion, it is possible to display ablending parameter of the second motion. The second region R12 includes,as display sections that display the information about media, a displaysection Eye that indicates start and end times of display of an image ofthe dog's eye on the display 11 a, and display sections Snd1 and Snd2that indicate start and end times of presentation of dog barking by thespeaker 11 b. In the present embodiment, as presentable dog barking, aplurality of types of barking (display sections Snd1 and Snd2) are set.It is possible to also display barking along with a waveform of thebarking. As described above, the blending parameter includes theduration TM of reflection of the second motion, the ratio BR to thefirst motion in reflection of the second motion, the start time Tfis ofreflection of the second motion, the end time Tfoe of reflection of thesecond motion, the end time Tfie of gradual increase in the reflectiondegree, and the start time Tfos of gradual decrease in the reflectiondegree. The third region R13 includes, as display sections in whichinformation about the first and second motions is displayed, a displaysection BM1 that indicates a profile of the first motion, and displaysections BM21 and BM22 that indicate a profile of the second motion. Theuser is able to change the blending parameter by changing a motionprofile displayed on the third region R13 by an operation of a cursor onthe screen or the like. It is also possible to change time of presentingmedia by an operation of the cursor on the screen or the like.Furthermore, in the present embodiment, a display section Dal thatindicates media contents, specifically an image of a dog's eye to beactually displayed on the display 11 a is provided in the first regionR11.

FIG. 5 is a block diagram illustrating a configuration of the motionblender unit 102 according to the present embodiment. FIG. 5 alsoillustrates the interface device 104 for the sake of convenience.

The motion blender unit 102 includes a specification prompt section B21,a specification recognition section B22, a learning processor B23, and amotion mode selector B24.

The specification prompt section B21 prompts the user to specify theblending parameter. In the present embodiment, specification of theblending parameter is prompted by displaying a screen for specificationof the blending parameter on the interface device 104. The user is ableto specify the blending parameter through the screen displayed on theinterface device 104.

In the present embodiment, the specification prompt section B21 displaysthe blending parameter that is a candidate of specification by the useras a proposal parameter on the screen of the interface device 104 toprompt specification of the blending parameter. Specification of theblending parameter is accomplished by selecting the proposal parameterby the user. The number of proposal parameters to be displayed may beone or more. It is also possible to prompt the user to directly inputthe blending parameter without displaying the proposal parameter.

The specification prompt section B21 displays a motion generated inaccordance with the blending parameter that is the candidate ofspecification on the screen of the interface device 104 to present theproposal parameter. In other words, a demonstration image of theblending parameter that is the candidate of specification is displayed.

Here, in a case where a load exceeding an allowable range is applied tothe actuator installed in any of the joints of the mobile body 1 in amotion generated in accordance with the blending parameter that is thecandidate of specification, the specification prompt section B21 limitsthe blending parameter related to a movement of that joint. For example,in a case where in a motion generated by blending of the second motion,an excessively large change occurs in the rotation angle of the joint j1between the head part 11 and the neck part 12, acceleration exceeding anallowable range occurs in the joint j1, and a load on the actuatorinstalled in the joint J1 exceeds the allowable range, the blendingparameter is set at 0 to exclude the second motion from the object to beblended. As the second motion that causes a load exceeding the allowablerange on the actuator, it is possible to exemplify the second motion ina standing posture with respect to the first motion in a sittingposture. It is possible to limit the blending parameter not only byexcluding the second motion that causes an issue from the object to beblended, but also by decreasing the ratio BR to the first motion inreflection of the second motion to lower than an original ratio and byextending time (=Tfie−Tfis) from start of reflection of the secondmotion to end of gradual increase in the reflection degree from anoriginal time to reflect the second motion more gradually.

The motion mode selector B22 sets a motion mode corresponding toselection by the user. It is possible to select the motion mode bydisplaying a screen for motion mode selection on the interface device104, and the user is able to select the motion mode through the screendisplayed on the interface device 104. The specification prompt sectionB21 changes the proposal parameter in accordance with the selectedmotion mode.

As the motion mode, it is possible to exemplify a motion mode havingsignificance of functions such as a motion mode that is resistant tobreakdown and a motion mode in which battery consumption is suppressed,and a motion mode having significance of characters and feelings such asan angry motion mode and a happy motion mode.

As the former motion mode, it is possible to implement the motion modethat is resistant to breakdown as a motion mode in which accelerationcaused in the joint is suppressed, and it is possible to implement themotion mode in which battery consumption is suppressed as a motion modein which a change in posture is small and a load on the actuator issuppressed.

Furthermore, as the latter motion mode, it is possible to implement theangry motion mode as a motion mode in which movements of the joints aresuppressed to cause a motion to appear slow, and it is possible toimplement the happy motion mode as a motion mode in which the joints arelargely moved to cause a motion to appear positive.

FIG. 7 illustrates a specific example of an interface screen UI2 to bedisplayed by the interface device 104 according to the presentembodiment for proposal of the blending parameter (presentation of theproposal parameter).

The interface screen UI2 includes a plurality of regions R21, R22, andR23 separated from each other, as with the interface screen UI1described above. A first region of the plurality of regions R21 to R23is the region R21 that indicates selectable motion modes for a specificcombination of the first and second motions. A second region is theregion R22 that indicates demonstration of a motion by the mobile body 1for each presented proposal parameter, and a third region is the regionR23 in which selection of the proposal parameter by the user isexecutable. In the present embodiment, a motion mode is selectable fromthree alternatives. In relation to this, for example, the first regionR21 has a “Mode A” button to select a normal motion mode, a “Mode B”button to select a motion mode that is resistant to breakdown, and a“Mode B” button to select a motion mode in which battery consumption issuppressed. The second region R22 is partitioned into three displaysections. A first display section of the three display sections is adisplay section MM1 in which a motion based on a first proposalparameter presented by the motion blender unit 102 is displayed, asecond display section is a display section MM2 in which a motion basedon a second proposal parameter is displayed, and a third display sectionis a display section MM3 in which a motion based on a third proposalparameter is displayed. As a first adoptable proposal parameter, it ispossible to exemplify an average value of all blending parameters to bespecified with respect to a specific combination of the first and secondmotions. As a second adoptable proposal parameter, it is possible toexemplify a blending parameter obtained through a learned model to bedescribed later, and as third adoptable proposal parameter, it ispossible to exemplify an optional blending parameter of the blendingparameters to be specified with respect to the specific combination ofthe first and second motions. The user is able to compare the proposalparameters by observing the motions of the mobile body 1 displayed inthe second region R22 in synchronization with each other. The thirdregion R23 has a “Select” button set in association with each of theproposal parameters, and the user is able to select a proposal parameterclose to user's own preference by pushing the “Select” button. In thepresent embodiment, without limiting to alternative selection, it ispossible to accept pushing the “Select” buttons related to the pluralityof proposal parameters and assign ranks to selections by the user(specifically, a first rank, a second rank, and a third rank) in orderof pushing the “Select” buttons, and it is possible to suspend selectionby a “Suspend” button and to select not to specify any proposalparameter by a “No Contest” button. Assigning ranks to user's selectionsmakes it possible to perform labeling of blending parameters to be usedfor mechanical learning, that is, learning data on the basis of theranks. This makes it possible to reduce a burden for selecting only oneproposal parameter as training data from the presented proposalparameters, reduce time necessary for labeling, and achievesimplification of a labeling work.

The specification recognition section B23 recognizes the blendingparameter specified by the user through the interface device 104 as aspecified parameter. The recognized specified parameter is inputted tothe blending parameter setting section B11 of the mecanitage unit 101 tobe set to the blending parameter.

The learning processor B24 learns user's preference related tospecification of the blending parameter. Specifically, mechanicallearning in which training data about the blending parameter isdetermined is executed on the second motion as the object to be blendedinto the first motion to generate a learned model of the blendingparameter. After generation of the learned model, the specificationprompt section B21 presents a blending parameter obtained through thelearned model by the learning processor B24 as a proposal parameter.Thus, the blending parameter obtained through the learned model isincluded in an object to be specified by the user.

In the present embodiment, as the mechanical learning, supervisedlearning using a neural network is executed. As a neural networkapplicable to learning, it is possible to exemplify a neural networkhaving a typical structure including a plurality of nodes arranged in aninput layer, a plurality of node arranged in a middle layer, and aplurality of nodes arranged in an output layer. The number of nodesarranged in the output layer is equal to the number of blendingparameters. The number of middle layers may be one or more. Typically,adoption having two middle layers is adopted, and a plurality of nodesarranged in a first middle layer and a plurality of nodes arranged in asecond middle layer are provided. Furthermore, weights indicatingsynaptic connection strength between layers are set between the node inthe input layer and the node in the middle layer and between the node inthe middle layer and the node in the output layer. The learningprocessor B24 learns correlation between the first and second motionsthat are input layer variables and the blending parameter that is anoutput layer variable on the basis of the neural network having such astructure. Specifically, the value of the node in the output layer withrespect to the value of the node in the input layer is calculated by atypical output layer calculation method using an activation function,and the calculated value of the node in the output layer is comparedwith a value of the training data to calculate an error therebetween.The learning processor B24 adjusts the weight of synaptic connection todecrease this error. It is possible to adjust the weight by a backpropagation method, for example. Learning ends when the above processeshas been repeated a predetermined times or when the error falls within apredetermined range, and a learned model is determined by a weightfinally obtained.

In the present embodiment, in generation of the learned model, it ispossible to present a predetermined blending parameter to the user andperform adjustment for bringing this blending parameter close to ablending parameter closer to user's own preference. In this case, thelearning processor B24 executes mechanical learning using the adjustedblending parameter as training data.

FIG. 8 illustrates a specific example of an interface screen UI3 to bedisplayed by the interface device 104 according to the presentembodiment for proposal of the blending parameter and adjustment of theblending parameter by the user.

The interface screen UI3 includes a plurality of regions R31 and R32separated from each other. A first region of the plurality of regionsR31 and R32 is the region R31 that indicates demonstration of a motionby the mobile body 1 for each presented proposal parameter, and includesa display section MM2 in which a motion based on the blending parameterobtained through the learned model is displayed, as with the secondregion R22 in the interface screen UI2. A second region is the regionR32 that indicates information about the first motion and the secondmotion, and includes a display section BM1 in which the start time Ts ofthe first motion and the end time Te of the first motion are displayed,and display sections BM21 and BM22 in which the blending parameter ofthe second motion is displayed, as with the third region R13 in theinterface screen UI1. In the present embodiment, profiles of the firstand second motions related to the proposal parameter selected in thefirst region R31 are displayed in the second region R32, and the user isable to observe and compare every moment of the posture of the mobilebody 1 in a motion based on each proposal parameter in the first regionR31 by moving a scroll bar B displayed in the second region R32 forwardand backward.

FIG. 9 illustrates an interface screen UI4 according to a modificationexample to be displayed by the interface device 104 according to thepresent embodiment for proposal of the blending parameter and adjustmentof the blending parameter by the user.

The interface screen UI4 includes a plurality of regions R41 to R43separated from each other. A first region of the plurality of regionsR41 to R43 is the region R41 that indicates demonstration of a motionbased on the selected proposal parameter. A second region is the regionR42 that indicates information about the first motion and the secondmotion, and is similar to the third region R13 in the interface screenUI1 and the second region R32 in the interface screen UI3. A thirdregion is the region R43 in which a two-dimensional parameter into whichthe proposal parameter presented by the motion blender unit 102 isconverted is displayed. It is possible to convert a multi-dimensionalproposal parameter into a two-dimensional parameter, for example, byperforming T-distributed Stochastic Neighbor Embedding (t-SNE). In thepresent embodiment, in the third region R43, it is possible to display,as proposal parameters, an average value A of all blending parameters tobe specified with respect to a specific combination of the first andsecond motions, a blending parameter B obtained through the learnedmodel, an optional blending parameter C of the blending parameters to bespecified with respect to the specific combination of the first andsecond motions. This makes it possible for the user to understand arelationship between a plurality of proposal parameters presented andselect a proposal parameter close to user's own preference on the basisof display of the two-dimensional parameter. The optional blendingparameter C may be completely optional, or may be extracted from avector space close to an optional blending parameter presented in thepast (proposal parameter C), or a blending parameter C′ having anextreme value.

3. DESCRIPTION WITH FLOWCHARTS

FIG. 10 is a flowchart illustrating a flow of setting of the blendingparameter control of a motion based on and the blending parameter as anoperation of the control system according to the present embodiment.Processes according to the flowchart in FIG. 10 are executed for eachgeneration of the third motion by the mecanitage unit 101 of the controlsystem S.

In S101, a first existing motion (first motion) that is a base ofgeneration is selected.

In S102, a second existing motion (second motion) as an object to beblended is selected.

In S103, the blending parameter is set.

In S104, media are selected to be attached to the third motion that isto be newly generated.

In S105, the third motion is generated by blending the second motioninto the first motion with a reflection degree corresponding to theblending parameter.

In S106, on the basis of the third motion and media in association withthe third motion, a drive signal for an actuator included in each jointis generated, and a drive signal for the display 11 a and the speaker 11b is generated.

FIG. 11 is a flowchart illustrating a flow of learning of the blendingparameter as an operation of the control system according to the presentembodiment. Processes according to the flowchart in FIG. 10 are executedfor each learning of the blending parameter by the motion blender unit102 of the control system S.

In S201, a data set for learning is inputted. The data set includestypes of the first motion (e.g., “body sway”) and the second motion(e.g., “hip sway”) to be used for learning and the blending parameterselected by the user for the first and second motions.

In S202, mechanical learning is executed with use of the types of thefirst and second motions as input layer variables and the blendingparameter selected by the user as training data.

In S203, a learned model is generated, or a learned model generated inthe past is updated.

FIG. 12 is a flowchart illustrating a flow of proposal of the blendingparameter and adjustment of the blending parameter by the user as anoperation of the control system S according to the present embodiment.Processes according to the flowchart in FIG. 12 are executed for eachspecification of the blending parameter, that is, each generation of thethird motion by the motion blender unit 102 of the control system S.

In S301, the types of the first motion and the second motion selected bythe user are inputted.

In S302, the motion mode selected by the user is inputted.

In S303, the proposal parameter is calculated by the learned model.

In S304, in an operation in which the proposal parameter is calculatedas the blending parameter, whether or not each of loads on the actuatorsinstalled in the joints included in the mobile body 1 is within anallowable range is determined. In a case where all the loads are withinthe allowable range, the flow proceeds to S306, and in a case where anyof the loads exceeds the allowable range, the flow proceeds to S305.

In S305, the proposal parameter is excluded from an actual proposalobject.

In S306, the proposal parameter is presented to prompt the user tospecify the blending parameter.

In S307, the blending parameter specified by the user is recognized.

In S308, whether or not adjustment of the specified blending parameterhas been executed by the user is determined. In a case where adjustmenthas been executed, the flow proceeds to S309, and in a case where theadjustment has not been executed, the flow proceeds to S310.

In S309, the blending parameter is changed to the adjusted blendingparameter.

In S310, a data set is generated and stored. The generated data set isreflected to the next and subsequent learning.

4. WORKINGS AND EFFECTS

In a case where a mobile body is to perform a new motion, generating thenew motion from the beginning by a user (e.g., a creator or a designer)takes effort and time, and is costly for a less-experienced creator.Furthermore, there is a limit to creator's own ideas, which limitsgeneratable motions. Here, in a case where a certain value is to begiven specifically to a motion to be newly performed, such issues becomemore pronounced. A value given to a motion is a value that brings asubstantial profit to the user (that is, a customer) of the mobile body,and examples of a motion having such a value include carrying a heavyload to help the user, monitoring the inside of a room to reassure theuser, and exhibiting an adorable behavior to impress the user.

According to the present embodiment, the predetermined first and secondmotions are blended to generate a new third motion, and this thirdmotion is allowed to be reflected to a motion to be actually performedby the mobile body 1, which makes it possible to reduce effort and timenecessary for generation and implementation of the new motion and reducecost. Furthermore, it is possible to prompt generation of a motion thatis not bounded by user's own ideas, that is, a motion that exceeds thelimit of user's own ideas.

It is possible to present media in association with the third motion,which makes it possible to prompt the user to understand a value to begiven to the third motion and achieve clarification of the value to begiven to the third motion.

The user is prompted to specify the blending parameter, and the blendingparameter specified by the user is recognized as a specified parameterand is allowed to be reflected to blending of the second motion (thatis, generation of the third motion), which makes it possible to reflectuser's preference to generation of the third motion throughspecification of the blending parameter. Here, it is possible togenerate the third motion by blending the second motion with areflection degree corresponding to the blending parameter specified bythe user; therefore, it is not necessary to individually specify each ofmovements of all movable sections. This makes it possible to reduce aburden of the user necessary for generation of the third motion andreduce time.

The blending parameter that is a candidate of specification is presentedas the proposal parameter, and is allowed to be specified by the user,which makes it possible to generate the third motion corresponding touser's preference by correcting the third motion generated on the basisof the specified blending parameter (specified parameter) as necessary.This makes it possible to further reduce the burden of the user.

Mechanical learning using the blending parameter specified by the useras training data is executed on the first and second motions to enablecalculation of the blending parameter by the generated learned model,which makes it possible to propose the blending parameter to whichuser's preference is reflected (in other words, a blending parameter forgenerating the third motion close to user's preference) only byspecification of the first and second motions. This makes it possible tofurther reduce effort and time necessary for generation of the thirdmotion.

5. CONCLUSION

The embodiment according to the present disclosure has been described indetail with reference to the drawings. According to the embodimentaccording to the present disclosure, it is possible to prompt generationof a new motion of a mobile body.

The technology according to the present disclosure is not limited to theembodiments described above, and may be modified in a variety of ways,and a combination of modification examples is also possible. In theabove description, an animal (specifically, dog)-shaped mobile body isadopted as a mobile body; however, adoptable mobile bodies may include ahumanoid-shaped mobile body and mobile bodies that imitate the forms ofanimals and living organisms other than a dog, and may include not onlya mobile body that is movable by a function of an organ (e.g., a leg) ofan animal or a living organism but also a mobile body movable with awheel. In the present specification, the wheel is regarded as a meansfor enabling movement, and is not limited to a ring body rotatable abouta an axle shaft, and is understood as a concept including a rolling bodywith no axle shaft such as a ball caster and a band body such as acaterpillar.

Furthermore, in the above description, the mobile body (that is, themain body of the mobile body) 1 and the control unit S are separatelyconfigured; however, the configuration is not limited thereto. It ispossible to integrate functions of the control unit S into the main body1 of the mobile body, and execute learning, proposal, and setting of theblending parameter and generation of the third motion by a computerincluded in the main body 1 of the mobile body. In this case, it ispossible to embody, by a personal computer, an interface device on whichthe user performs specification, selection or the like of the blendingparameter.

Furthermore, in the above description, a plurality of proposalparameters or a plurality of motions based on the presented proposalparameters are displayed side by side on the interface device 104;however, it is possible to display motions based on individual proposalparameters superimposed on each other. This makes it possible for theuser to easily understand a difference between motions for respectiveproposal parameters.

Furthermore, in the above description, a physically existing mobile bodysuch as a robot is adopted as an object to perform a motion, and thethird motion is reflected to a change in the direction, posture, and thelike of the mobile body itself (that is, a motion of the mobile body);however, an adoptable object is not limited thereto, and a virtuallyexisting mobile body may be adopted. For example, a display section isprovided in an interface device, and an object and a motion of theobject are displayed on the display section. It is possible to embodythe interface device in this case by a smartphone or a tablet computer,and the third motion is reflected to a motion of an image (that is, achange in the image) displayed on a screen of the smartphone or thetablet computer. It is possible to exemplify an image imitating any ofvarious types of autonomous mobile type robots as an image to bedisplayed, that is, an object.

Further, not all of the configurations and operations described in therespective embodiments are indispensable as the configurations andoperations of the present disclosure. For example, among the componentsin the respective embodiments, components not described in theindependent claim indicating the most significant concepts of thepresent disclosure are to be understood as optional components.

Terms used throughout this specification and the appended claims shouldbe construed as “non-limiting” terms. For example, the term “including”or “included” should be construed as “not limited to what is describedas being included”. The term “having” should be construed as “notlimited to what is described as being had”.

The terms used herein are used merely for the convenience of descriptionand include terms that are not used to limit the configuration, theoperation, and the like. For example, the terms such as “right”, “left”,“up”, and “down” only indicate directions in the drawings being referredto. In addition, the terms “inside” and “outside” only indicate adirection toward the center of a component of interest and a directionaway from the center of a component of interest, respectively. The sameapplies to terms similar to these and to terms with the similar purpose.

The technology according to the present disclosure may have thefollowing configurations. According to the technology according to thepresent disclosure having the following configurations, a plurality ofpredetermined motions are blended to generate a new motion, and this newmotion is allowed to be reflected to a motion to be actually performedby a mobile body, which makes it possible to reduce effort and timenecessary for generation of the new motion and reduce cost. Furthermore,it is possible to prompt generation of a new motion that is not boundedby user's own ideas. Effects attained by the technology according to thepresent disclosure are not necessarily limited to the effects describedherein, but may include any of the effects described in thisspecification.

(1)

A mobile body including:

-   -   a blending parameter setting section that sets a blending        parameter;    -   a motion generator that is configured to be able to generate a        third motion by blending, into a predetermined first motion as a        motion of the mobile body, a predetermined second motion as a        motion of the mobile body different from the first motion with a        reflection degree corresponding to the blending parameter set by        the blending parameter setting section; and    -   a motion controller that is configured to be able to reflect the        third motion generated by the motion generator to a motion to be        actually performed by the mobile body.        (2)

The mobile body according to (1), further including a media presentingsection that is configured to be able to present predetermined mediaperceptible from outside of the mobile body in association with thethird motion.

(3)

The mobile body according to (2), in which the predetermined mediainclude visual media.

(4)

The mobile body according to (3), in which the predetermined mediainclude audio media.

-   -   (5)

The mobile body according to any one of (2) to (4), in which

-   -   media set in association with each of the first and second        motions are included, and    -   the predetermined media include media set in association with a        motion having a superior reflection degree in the third motion        of the first and second motions.        (6)

The mobile body according to any one of (2) to (4), in which

-   -   media set in association with each of the first and second        motions are included, and    -   the predetermined media include media set in association with a        motion having a high final reflection degree in the third motion        of the first and second motions.        (7)

The mobile body according to any one of (1) to (6), further including:

-   -   a specification prompt section that is configured to prompt a        user to specify the blending parameter; and    -   a specification recognition section that is configured to be        able to recognize the blending parameter specified by the user        as a specified parameter, in which    -   the blending parameter setting section sets the specified        parameter recognized by the specification recognition section to        the blending parameter.    -   (8)

The mobile body according to (7), in which the specification promptsection presents, as a proposal parameter, a blending parameter that isa candidate of specification by the user to prompt specification of theblending parameter.

(9)

The mobile body according to (8), in which the specification promptsection displays a motion generated in accordance with the blendingparameter that is the candidate of specification to present the proposalparameter.

(10)

The mobile body according to (8) or (9), in which the specificationprompt section presents, as the proposal parameters, a plurality ofblending parameters that are the candidates of specification.

(11)

The mobile body according to any one of (8) to (10), in which, in a casewhere a load on a movable section of the mobile body exceeds anallowable range in a motion generated in accordance with the blendingparameter that is the candidate of specification, the specificationprompt section limits the blending parameter related to a movement ofthe movable section.

(12)

The mobile body according to any one of (8) to (11), further including amotion mode selector that is configured to be able to select a motionmode of the mobile body by the user, in which

-   -   the specification prompt section changes the proposal parameter        in accordance with the motion mode selected by the user.        (13)

The mobile body according to any one of (8) to (12), further including alearning processor that is configured to be able to generate a learnedmodel of the blending parameter by executing mechanical learning, inwhich training data about the blending parameter is determined, on thesecond motion as an object to be blended into the first motion, in which

-   -   the specification prompt section presents, as the proposal        parameter, a blending parameter calculated by the learned model        on the basis of the first and second motions.        (14)

The mobile body according to (13), in which

-   -   the specification prompt section presents, as the proposal        parameter, a plurality of blending parameters that are objects        of the specification, and prompts specification of one or some        blending parameters from among the plurality of blending        parameters, and    -   the learning processor executes the mechanical learning using        the one or some blending parameters specified as training data.        (15)

The mobile body according to (14), in which the learning processorassigns ranks to respective blending parameters upon specifying the someblending parameters, and executes the mechanical learning on the basisof the ranks.

(16)

The mobile body according to (13), in which the learning processor isconfigured to present a predetermined blending parameter in generationof the learned model and be able to adjust the presented blendingparameter by the user, and executes the mechanical learning using theblending parameter adjusted by the user as the training data.

(17)

A method of controlling a mobile body including:

-   -   prompting a user to specify a blending parameter;    -   generating a third motion by blending, into a predetermined        first motion as a motion of a mobile body, a predetermined        second motion as a motion of the mobile body different from the        first motion with a reflection degree corresponding to the        blending parameter specified by the user; and    -   reflecting the third motion to a motion to be actually performed        by the mobile body.        (18)

An information processing device including:

-   -   a command generator that is configured to be able to output, to        an interface device, a command to execute an operation of        prompting a user to specify a blending parameter;    -   a blending parameter input section that is configured to be able        to input a blending parameter specified by the user;    -   a motion generator that is configured to be able o generate a        third motion by blending, into a predetermined first motion as a        motion of an object, a predetermined second motion as a motion        of the object different from the first motion with a reflection        degree corresponding to the blending parameter inputted to the        blending parameter input section; and    -   a motion controller that is configured to be able to reflect the        third motion generated by the motion generator to a motion to be        actually performed by the object.        (19)

The information processing device according to (18), in which the objectincludes a mobile body.

(20)

The information processing device according to (18), in which

-   -   the object includes a display section, and    -   the motion of the object involves a motion of an image displayed        on the display section.

This application claims the priority on the basis of Japanese PatentApplication No. 2020-152309 filed on Sep. 10, 2020 with Japan PatentOffice, the entire contents of which are incorporated in thisapplication by reference.

It should be understood by those skilled in the art that variousmodifications, combinations, sub-combinations, and alterations may occurdepending on design requirements and other factors insofar as they arewithin the scope of the appended claims or the equivalents thereof.

1. A mobile body comprising: a blending parameter setting section thatsets a blending parameter; a motion generator that is configured to beable to generate a third motion by blending, into a predetermined firstmotion as a motion of the mobile body, a predetermined second motion asa motion of the mobile body different from the first motion with areflection degree corresponding to the blending parameter set by theblending parameter setting section; and a motion controller that isconfigured to be able to reflect the third motion generated by themotion generator to a motion to be actually performed by the mobilebody.
 2. The mobile body according to claim 1, further comprising amedia presenting section that is configured to be able to presentpredetermined media perceptible from outside of the mobile body inassociation with the third motion.
 3. The mobile body according to claim2, wherein the predetermined media comprise visual media.
 4. The mobilebody according to claim 2, wherein the predetermined media compriseaudio media.
 5. The mobile body according to claim 2, wherein media setin association with each of the first and second motions are included,and the predetermined media comprise media set in association with amotion having a superior reflection degree in the third motion of thefirst and second motions.
 6. The mobile body according to claim 2,wherein media set in association with each of the first and secondmotions are included, and the predetermined media comprise media set inassociation with a motion having a high final reflection degree in thethird motion of the first and second motions.
 7. The mobile bodyaccording to claim 1, further comprising: a specification prompt sectionthat is configured to prompt a user to specify the blending parameter;and a specification recognition section that is configured to be able torecognize the blending parameter specified by the user as a specifiedparameter, wherein the blending parameter setting section sets thespecified parameter recognized by the specification recognition sectionto the blending parameter.
 8. The mobile body according to claim 7,wherein the specification prompt section presents, as a proposalparameter, a blending parameter that is a candidate of specification bythe user to prompt specification of the blending parameter.
 9. Themobile body according to claim 8, wherein the specification promptsection displays a motion generated in accordance with the blendingparameter that is the candidate of specification to present the proposalparameter.
 10. The mobile body according to claim 8, wherein thespecification prompt section presents, as the proposal parameters, aplurality of blending parameters that are the candidates ofspecification.
 11. The mobile body according to claim 8, wherein, in acase where a load on a movable section of the mobile body exceeds anallowable range in a motion generated in accordance with the blendingparameter that is the candidate of specification, the specificationprompt section limits the blending parameter related to a movement ofthe movable section.
 12. The mobile body according to claim 8, furthercomprising a motion mode selector that is configured to be able toselect a motion mode of the mobile body by the user, wherein thespecification prompt section changes the proposal parameter inaccordance with the motion mode selected by the user.
 13. The mobilebody according to claim 8, further comprising a learning processor thatis configured to be able to generate a learned model of the blendingparameter by executing mechanical learning, in which training data aboutthe blending parameter is determined, on the second motion as an objectto be blended into the first motion, wherein the specification promptsection presents, as the proposal parameter, a blending parametercalculated by the learned model on a basis of the first and secondmotions.
 14. The mobile body according to claim 13, wherein thespecification prompt section presents, as the proposal parameter, aplurality of blending parameters that are objects of the specification,and prompts specification of one or some blending parameters from amongthe plurality of blending parameters, and the learning processorexecutes the mechanical learning using the one or some blendingparameters specified as training data.
 15. The mobile body according toclaim 14, wherein the learning processor assigns ranks to respectiveblending parameters upon specifying the some blending parameters, andexecutes the mechanical learning on a basis of the ranks.
 16. The mobilebody according to claim 13, wherein the learning processor is configuredto present a predetermined blending parameter in generation of thelearned model and be able to adjust the presented blending parameter bythe user, and executes the mechanical learning using the blendingparameter adjusted by the user as the training data.
 17. A method ofcontrolling a mobile body comprising: prompting a user to specify ablending parameter; generating a third motion by blending, into apredetermined first motion as a motion of a mobile body, a predeterminedsecond motion as a motion of the mobile body different from the firstmotion with a reflection degree corresponding to the blending parameterspecified by the user; and reflecting the third motion to a motion to beactually performed by the mobile body.
 18. An information processingdevice comprising: a command generator that is configured to be able tooutput, to an interface device, a command to execute an operation ofprompting a user to specify a blending parameter; a blending parameterinput section that is configured to be able to input a blendingparameter specified by the user; a motion generator that is configuredto be able o generate a third motion by blending, into a predeterminedfirst motion as a motion of an object, a predetermined second motion asa motion of the object different from the first motion with a reflectiondegree corresponding to the blending parameter inputted to the blendingparameter input section; and a motion controller that is configured tobe able to reflect the third motion generated by the motion generator toa motion to be actually performed by the object.
 19. The informationprocessing device according to claim 18, wherein the object comprises amobile body.
 20. The information processing device according to claim18, wherein the interface device includes a display section, and theobject and a motion of the object are displayed on the display section.